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PLC Data Structures

Overview

Multiple Data structs are synchronized between Compass NC on the PC, and the iCube Controller. While many are used internally for Compass NC operations (e.g., motion processing, NC state information, etc.), others are available for aiding integration to the machine, or for status information on the HMI created with Compass Designer.

Additional Data Structs used for Compass operation and interaction.

NcStateData (NcState)

NcState represents the current G-Code modal state as data to read for integration into the machine’s logic. Compass NC to read data from the PLC.

HmiData (HMIStatusData)

Machine Status data sent to Compass NC.

MotionCommands (MotionCommandBlockCircularBuffer)

Motion Commands sent to PLC during G-code processing / execution.

MachineCommands (MachineCommandCircularBuffer)

The received Machine Command list is processed in Y_C_CommandProcessor and an appropriate HMI_Command struct bit is updated.

HMI_Command (ControlCommand)

The received and processed Machine Command bit. The intention behind this struct is to separate HMI commands from PLC actions. The value of these HMI_Command bits should be passed to the appropriate MachineControl struct bits utilizing a necessary logic.

MachineControl (ControlCommand).

The intention behind this struct is to separate HMI commands and physical inputs from the PLC actions. The value of these MachineControl bits should be set by an appropriate logic processing HMI_Commands and physical inputs (Operator panel button presses) in the MachineControlLogic POU and then using these bits to execute appropriate PLC logic. The struct is identical to HMI_Command data type.

M_Code(M_CodeArray).

Compass Processor activates the corresponding M_Code array Active bit after processing an M-command.

Name	Data Type	Description
Active	BOOL	NC sets to 1 when active. PLC resets to 0 when acknowledged
M_Value	LREAL	Active M-code number
S_Value	LREAL	S argument value from the M-code line
T_Value	LREAL	T argument value from the M-code line
H_Value	LREAL	H argument value from the M-code line
P_Value	LREAL	P argument value from the M-code line

AxesMap(IntArray).

An array used for properly mapping Virtual Group axes to the Real Group axes. Currently Compass is set up for controlling 5 axes (X, Y, Z, Aux1, Tangent), Virtual Group is set up accordingly and should not be modified. The actual axes on the machine might differ so using this array you can disable non existing axes and properly point virtual axes to the real axes.

Name	Data Type	Description
AxesMap[1]	INT	Virtual X axis
AxesMap[2]	INT	Virtual Y axis
AxesMap[3]	INT	Virtual Z axis
AxesMap[4]	INT	Virtual Aux1 axis
AxesMap[5]	INT	Virtual Tangent axis

Example:

Homag router Real axis group is set up for 4 axes (5 including X prime):

RealC axis is used as a Tangent axis, so the AxisMap is set up like this:

LastExecutedSegmentData(SegmentDataStruct)

Data from the last executed segment or the segment actively providing motion. Used for troubleshooting or displaying File Line number on the HMI.